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Journal of Robotics
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Journal of Robotics
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2010
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Article
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Fig 2
/
Research Article
Modeling and Control of 2D Grasping under Rolling Contact Constraints between Arbitrary Shapes: A Riemannian-Geometry Approach
Figure 2
Definitions of local coordinates
O
m
-
X
Y
for the object and
O
1
-
X
1
Y
1
for the fingertip.